version: 66.11
glider: 190
mission: 6
dive: 456
start: 1 31 113 21 2 29
data:
$ID,190
$MISSION,6
$DIVE,456
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,100
$T_BOOST,2
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,460
$T_MISSION,610
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,10
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,160
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,55694
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.035
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,3
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-13489.515
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,147
$PITCH_MAX,3920
$C_PITCH,2890
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,2
$ROLL_MIN,231
$ROLL_MAX,3841
$ROLL_DEG,30
$C_ROLL_DIVE,1520
$C_ROLL_CLIMB,1520
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,6
$R_PORT_OVSHOOT,7
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,3
$ROLL_ADJ_GAIN,1.2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2990
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00060000003
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,10
$MINV_10V,10
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-57.210079
$PRESSURE_SLOPE,0.0001167181
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043554804
$SEABIRD_T_H,0.00062589208
$SEABIRD_T_I,2.3694633e-05
$SEABIRD_T_J,2.5872548e-06
$SEABIRD_C_G,-9.7973194
$SEABIRD_C_H,1.1276957
$SEABIRD_C_I,-0.00090238411
$SEABIRD_C_J,0.00014727951
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,310113,204503,2424.365,-3752.171,40,1.4,43,-14.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.38
$_SM_ANGLEo,-64.9
$GPS2,310113,210159,2424.344,-3752.225,20,1.0,20,-14.0
$SPEED_LIMITS,0.124,0.130
$TGT_NAME,C_NW
$TGT_LATLONG,2434.000,-3802.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,312.7,24308,-16.4,-7.174,-28.86
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,22,-0.84,-155.7,0.0,0.0,0,33,0.00,0.00,-9.98,0.000,2,0.000,0.000,135,1530,1782,0,0,0,0,0,0,28.83,28.83,28.83
$GC,37,-0.84,-155.7,2.3,0.0,1,144,11.45,1.92,-87.30,0.000,4,0.360,0.125,2606,2578,3621,0,0,0,0,0,0,14.10,14.21,14.70
$GC,234,-0.84,-155.7,10.9,-8.7,21,244,0.00,2.10,0.00,0.000,6,0.000,0.119,2606,1514,3622,0,0,0,0,0,0,28.83,14.04,28.83
$GC,545,-0.86,-155.7,42.1,-10.0,52,553,0.00,2.08,0.00,0.000,4,0.000,0.141,2606,461,3621,0,0,0,0,0,0,28.83,13.96,28.83
$GC,624,-0.86,-155.7,50.9,-11.6,60,633,0.00,1.92,0.00,0.000,6,0.000,0.086,2605,1512,3621,0,0,0,0,0,0,28.83,14.28,28.83
$GC,935,-0.88,-155.7,85.3,-10.3,91,943,0.00,2.10,0.00,0.000,4,0.000,0.138,2605,458,3621,0,0,0,0,0,0,28.83,14.02,28.83
$GC,1035,-0.88,-155.7,96.4,-11.6,101,1044,0.00,1.90,0.00,0.000,6,0.000,0.086,2605,1497,3621,0,0,0,0,0,0,28.83,14.22,28.83
$GC,1346,-0.91,-155.7,128.2,-9.9,132,1353,0.00,2.03,0.00,0.000,4,0.000,0.137,2605,460,3622,0,0,0,0,0,0,28.83,14.02,28.83
$GC,1497,-0.91,-155.7,142.7,-10.3,147,1504,0.00,1.80,0.00,0.000,6,0.000,0.082,2605,1475,3622,0,0,0,0,0,0,28.83,14.24,28.83
$GC,1805,-0.94,-155.7,169.6,-7.9,178,1811,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1475,3622,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2115,-0.98,-155.7,195.3,-9.0,209,2124,0.00,2.00,0.00,0.000,4,0.000,0.132,2605,462,3622,0,0,0,0,0,0,28.83,14.00,28.83
$GC,2258,-0.98,-155.7,207.9,-9.0,223,2265,0.00,1.80,0.00,0.000,6,0.000,0.079,2605,1462,3622,0,0,0,0,0,0,28.83,14.27,28.83
$GC,2566,-1.02,-155.7,233.2,-8.2,254,2574,0.12,1.95,0.00,0.000,4,0.135,0.135,2542,460,3622,0,0,0,0,0,0,14.57,14.04,28.83
$GC,2806,-0.98,-155.7,257.4,-10.2,274,2812,0.12,1.73,0.00,0.000,6,0.265,0.083,2567,1429,3621,0,0,0,0,0,0,14.08,14.33,28.83
$GC,3137,-0.98,-155.7,287.6,-9.3,285,3142,0.00,1.88,0.00,0.000,4,0.000,0.133,2568,460,3622,0,0,0,0,0,0,28.83,14.12,28.83
$GC,3264,-0.98,-155.7,299.6,-10.0,289,3272,0.00,1.70,0.00,0.000,6,0.000,0.078,2565,1412,3620,0,0,0,0,0,0,28.83,14.39,28.83
$GC,3584,-0.98,-155.7,331.5,-9.7,300,3591,0.00,1.85,0.00,0.000,4,0.000,0.133,2565,463,3621,0,0,0,0,0,0,28.83,14.07,28.83
$GC,3684,-0.98,-155.7,340.7,-10.0,303,3691,0.00,1.67,0.00,0.000,6,0.000,0.079,2564,1397,3620,0,0,0,0,0,0,28.83,14.39,28.83
$GC,4006,-0.98,-155.7,371.5,-9.3,314,4011,0.00,1.83,0.00,0.000,4,0.000,0.134,2564,454,3619,0,0,0,0,0,0,28.83,14.12,28.83
$GC,4073,-0.98,-155.7,377.4,-9.6,316,4077,0.00,1.67,0.00,0.000,6,0.000,0.079,2559,1388,3619,0,0,0,0,0,0,28.83,14.39,28.83
$GC,4387,-0.98,-155.7,408.4,-9.7,327,4392,0.00,1.80,0.00,0.000,4,0.000,0.134,2559,466,3618,0,0,0,0,0,0,28.83,13.99,28.83
$GC,4535,-0.98,-155.7,423.9,-10.4,332,4542,0.00,1.62,0.00,0.000,6,0.000,0.081,2555,1367,3618,0,0,0,0,0,0,28.83,14.36,28.83
$GC,4867,-0.98,-155.7,455.0,-9.3,343,4872,0.00,1.77,0.00,0.000,4,0.000,0.136,2555,462,3618,0,0,0,0,0,0,28.83,13.98,28.83
$GC,4974,-0.98,-155.7,464.0,-9.8,346,4978,0.00,1.60,0.00,0.000,6,0.000,0.081,2553,1350,3616,0,0,0,0,0,0,28.83,14.37,28.83
$GC,5276,-0.98,-155.7,494.4,-9.5,356,5278,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1350,3618,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5575,-0.98,-155.7,523.1,-9.6,366,5583,0.00,1.77,0.00,0.000,4,0.000,0.136,2553,455,3614,0,0,0,0,0,0,28.83,14.10,28.83
$GC,5654,-0.98,-155.7,529.0,-9.7,368,5658,0.00,1.62,0.00,0.000,6,0.000,0.083,2553,1345,3614,0,0,0,0,0,0,28.83,14.31,28.83
$GC,5957,-0.98,-155.7,559.5,-9.5,378,5958,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1345,3613,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6255,-0.98,-155.7,588.4,-9.9,388,6256,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1345,3612,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6556,-0.98,-155.7,618.3,-10.1,398,6563,0.00,1.75,0.00,0.000,4,0.000,0.139,2553,461,3610,0,0,0,0,0,0,28.83,13.97,28.83
$GC,6605,-0.98,-155.7,621.5,-10.2,399,6613,0.00,1.60,0.00,0.000,6,0.000,0.083,2552,1342,3609,0,0,0,0,0,0,28.83,14.31,28.83
$GC,6916,-0.98,-155.7,654.1,-9.5,410,6923,0.00,1.75,0.00,0.000,4,0.000,0.140,2553,460,3609,0,0,0,0,0,0,28.83,14.00,28.83
$GC,6985,-0.98,-155.7,659.8,-9.3,412,6992,0.00,1.58,0.00,0.000,6,0.000,0.084,2552,1325,3608,0,0,0,0,0,0,28.83,14.32,28.83
$GC,7306,-0.98,-155.7,688.2,-8.1,423,7312,0.00,2.35,0.00,0.000,4,0.000,0.111,2552,2568,3607,0,0,0,0,0,0,28.83,14.08,28.83
$GC,7344,-0.98,-155.7,690.5,-7.9,424,7352,0.00,2.45,0.00,0.000,6,0.000,0.122,2552,1320,3608,0,0,0,0,0,0,28.83,14.08,28.83
$GC,7667,-0.98,-155.7,715.2,-7.3,435,7673,0.00,2.38,0.00,0.000,4,0.000,0.110,2552,2574,3606,0,0,0,0,0,0,28.83,14.10,28.83
$GC,7727,-1.00,-155.7,719.4,-7.2,437,7733,0.00,2.42,0.00,0.000,6,0.000,0.122,2552,1325,3607,0,0,0,0,0,0,28.83,14.04,28.83
$GC,8057,-1.00,-155.7,745.8,-8.6,448,8062,0.00,1.73,0.00,0.000,4,0.000,0.142,2553,459,3603,0,0,0,0,0,0,28.83,13.90,28.83
$GC,8094,-1.00,-155.7,748.6,-8.8,449,8098,0.00,1.60,0.00,0.000,6,0.000,0.084,2549,1335,3605,0,0,0,0,0,0,28.83,14.28,28.83
$GC,8407,-1.00,-155.7,780.2,-10.1,460,8413,0.00,1.75,0.00,0.000,4,0.000,0.142,2549,461,3604,0,0,0,0,0,0,28.83,13.84,28.83
$GC,8487,-1.00,-155.7,786.8,-10.5,462,8494,0.00,1.55,0.00,0.000,6,0.000,0.087,2549,1317,3603,0,0,0,0,0,0,28.83,14.18,28.83
$GC,8796,-1.00,-155.7,821.7,-10.2,473,8804,0.00,2.40,0.00,0.000,4,0.000,0.113,2549,2569,3602,0,0,0,0,0,0,28.83,13.93,28.83
$GC,8857,-1.02,-155.7,827.7,-10.1,475,8863,0.00,2.47,0.00,0.000,6,0.000,0.123,2549,1317,3602,0,0,0,0,0,0,28.83,13.86,28.83
$GC,9187,-1.02,-155.7,858.6,-8.9,486,9193,0.00,1.73,0.00,0.000,4,0.000,0.148,2549,466,3601,0,0,0,0,0,0,28.83,13.80,28.83
$GC,9265,-1.02,-155.7,863.9,-8.8,488,9269,0.00,1.58,0.00,0.000,6,0.000,0.089,2548,1323,3600,0,0,0,0,0,0,28.83,14.23,28.83
$GC,9568,-1.02,-155.7,890.5,-8.3,498,9573,0.00,2.38,0.00,0.000,4,0.000,0.116,2549,2578,3598,0,0,0,0,0,0,28.83,14.02,28.83
$GC,9646,-1.02,-155.7,895.1,-8.0,500,9654,0.00,2.47,0.00,0.000,6,0.000,0.124,2549,1324,3598,0,0,0,0,0,0,28.83,13.93,28.83
$GC,9958,-1.02,-155.7,921.7,-8.2,511,9964,0.00,1.75,0.00,0.000,4,0.000,0.149,2549,463,3598,0,0,0,0,0,0,28.83,13.79,28.83
$GC,10035,-1.02,-155.7,927.1,-8.7,513,10039,0.00,1.62,0.00,0.000,6,0.000,0.090,2549,1333,3597,0,0,0,0,0,0,28.83,14.14,28.83
$GC,10336,-1.02,-155.7,956.0,-9.2,523,10343,0.00,1.77,0.00,0.000,4,0.000,0.150,2549,463,3595,0,0,0,0,0,0,28.83,13.78,28.83
$GC,10416,-1.02,-155.7,962.1,-9.6,525,10424,0.00,1.58,0.00,0.000,6,0.000,0.091,2549,1308,3595,0,0,0,0,0,0,28.83,14.16,28.83
$STATE,10693,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10693,begin apogee
$GC,10701,-0.23,0.0,991.8,-10.2,535,10859,0.95,0.00,153.68,1.837,4,0.210,0.000,2810,1520,2989,0,0,0,0,0,0,13.71,28.83,13.02
$STATE,10864,end apogee,CONTROL_FINISHED_OK
$STATE,10864,begin climb
$GC,10868,0.84,155.7,1003.5,0.0,540,11038,1.08,2.03,160.68,1.831,4,0.111,0.117,3158,2578,2354,0,0,0,0,0,0,14.14,14.10,13.09
$GC,11269,0.84,235.3,1001.7,4.7,553,11358,0.00,2.05,83.90,1.797,6,0.000,0.138,3166,1521,2029,0,0,0,0,0,0,28.83,14.26,13.16
$GC,11658,0.82,235.3,974.2,7.4,566,11664,0.00,2.12,0.00,0.000,4,0.000,0.159,3174,460,2013,0,0,0,0,0,0,28.83,14.18,28.83
$GC,11767,0.79,235.3,967.1,7.8,569,11776,0.08,1.95,0.00,0.000,6,0.262,0.093,3153,1531,2012,0,0,0,0,0,0,14.14,14.37,28.83
$GC,12080,0.79,235.3,941.4,7.9,580,12087,0.00,1.98,0.00,0.000,4,0.000,0.119,3153,2577,2010,0,0,0,0,0,0,28.83,14.30,28.83
$GC,12257,0.79,235.3,925.3,9.1,586,12264,0.00,2.05,0.00,0.000,6,0.000,0.135,3160,1548,2010,0,0,0,0,0,0,28.83,14.23,28.83
$GC,12592,0.79,235.3,893.9,9.6,597,12597,0.00,1.98,0.00,0.000,4,0.000,0.124,3161,2578,2009,0,0,0,0,0,0,28.83,14.28,28.83
$GC,12647,0.79,235.3,887.9,9.9,599,12654,0.00,2.03,0.00,0.000,6,0.000,0.142,3168,1565,2008,0,0,0,0,0,0,28.83,14.12,28.83
$GC,12980,0.79,235.3,855.9,9.7,610,12985,0.00,1.95,0.00,0.000,4,0.000,0.125,3168,2574,2007,0,0,0,0,0,0,28.83,14.23,28.83
$GC,13057,0.76,235.3,850.1,9.5,612,13066,0.12,2.00,0.00,0.000,6,0.275,0.134,3144,1567,2006,0,0,0,0,0,0,13.84,14.09,28.83
$GC,13370,0.76,235.3,822.9,7.8,623,13375,0.00,1.92,0.00,0.000,4,0.000,0.116,3143,2578,2006,0,0,0,0,0,0,28.83,14.21,28.83
$GC,13488,0.76,235.3,814.2,7.2,627,13494,0.00,2.03,0.00,0.000,6,0.000,0.146,3151,1586,2006,0,0,0,0,0,0,28.83,14.00,28.83
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$STATE,22695,end climb,SURFACE_DEPTH_REACHED
$STATE,22695,begin surface coast
$FINISH,1.4,1.025694
$STATE,22730,end surface coast,CONTROL_FINISHED_OK
$STATE,22731,begin surface
$SM_CCo,22814,0.00,0.000,0,0,1440,380.21
$SM_GC,2.22,8.85,0.45,0.00,0.073,0.134,0.000,146,1513,1440,-8.52,0.20,380.21,0,0,0,0,0,0,14.30,14.16,28.83
$IRIDIUM_FIX,2415.74,-3748.97,310113,202008
$TT8_MAMPS,0.023968,0.023968
$HUMID,58.74
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,23.00
$XPDR_PINGS,3
$SC_FREEKB,7595680
$24V_AH,13.0,194.104
$10V_AH,12.3,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,23.300,195.575,530.100,0.000,0.000,0.000,0.000,602.275,0.750,0.000,20.619,3212.842,16170.306,925.958,2791.933,711.258,0.000,2710.709,0.000,2135.073,0.000,0.542,0.000
$DEVICE_MAMPS,359.550,159.120,1836.765,0.000,0.000,0.000,0.000,167.535,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22785.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.043,0.000,0.000,0.000
$MEM,344952
$DATA_FILE_SIZE,43373,1123
$CAP_FILE_SIZE,241984,0
$CFSIZE,260034560,188235776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.068, 19.5,1
$GPS,010213,032404,2425.632,-3753.696,39,0.9,39,-14.0